Two-stage riveting

• US 9,937,549 B2
• Filed: 12/03/2014
• Issued: 04/10/2018
• Est. Priority Date: 07/09/2014
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Oberoi, Harinder S., Findlay, Melissa Ann, Sarh, Branko, Draper, Alan S., Arriaga, Jorge Alberto
• Primary Examiner(s): Vaughan, Jason L
• Assistant Examiner(s): MENEGHINI, AMANDA J
• Application Number:
  US14/559,483
• Publication Number:
  US 20160008869A1
• Time in Patent Office: 1,224 Days
• Field of Search: 901 30, 901 40
• CPC Class Codes: B21J 15/02 Riveting procedures
• CPC Class Codes: B21J 15/10 Riveting machines electric heating elements H05B
• CPC Class Codes: B21J 15/142 Aerospace structures
• CPC Class Codes: B21J 15/28 Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
• CPC Class Codes: B21J 15/32 Devices for inserting or holding rivets in position with or without feeding arrangements
• CPC Class Codes: B21J 15/40 for forming rivet heads
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B23P 21/002 the units stationary whilst being composed
• CPC Class Codes: B23P 2700/00 Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
• CPC Class Codes: B23P 2700/01 Aircraft parts
• CPC Class Codes: B25B 5/163 Jaws or jaw attachments
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 11/007 Riveting
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B29C 2045/14368 holes with means for anchoring the injected material
• CPC Class Codes: B29C 2793/0081 before shaping
• CPC Class Codes: B29C 39/026 characterised by the shape of the surface
• CPC Class Codes: B29C 39/10 : incorporating preformed parts or layers, e.g. casting around inserts or for coating articles coating a surface by casting in general B05D1/30, B29C39/126 takes precedence
• CPC Class Codes: B29C 39/123 : Making multilayered articles
• CPC Class Codes: B29C 39/22 : Component parts, details or accessories; Auxiliary operations
• CPC Class Codes: B29C 45/14336 : Coating a portion of the article, e.g. the edge of the article B29C45/14573 and B29C45/14598 take precedence
• CPC Class Codes: B29C 65/70 : by moulding using a particular moulding technique, see the relevant technique , e.g. by injection B29C45/14467
• CPC Class Codes: B29K 2715/00 : Condition, form or state of preformed parts, e.g. inserts
• CPC Class Codes: B29L 2031/748 : Machines or parts thereof not otherwise provided for conveyor belts B29L2031/7092; driving belts B29L2031/7094; bearings B29L2031/04
• CPC Class Codes: B60G 2204/143 : on the vehicle body or chassis
• CPC Class Codes: B60G 2204/418 : Bearings, e.g. ball or roller bearings
• CPC Class Codes: B60G 2206/8207 : by screwing
• CPC Class Codes: B60G 2300/60 : Vehicles using regenerative power
• CPC Class Codes: B60G 3/145 : the arm forming the axle housing
• CPC Class Codes: B60G 7/001 : Suspension arms, e.g. constructional features B60G7/006 takes precedence
• CPC Class Codes: B60G 7/008 : Attaching arms to unsprung part of vehicle B60G7/005, B60G7/006 take precedence
• CPC Class Codes: B60P 3/025 : the object being a shop, cafeteria or display the object being a theatre or stagethe object being a workshop B60P3/14
• CPC Class Codes: B64C 1/00 : Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
• CPC Class Codes: B64C 1/06 : Frames; Stringers; Longerons ; Fuselage sections
• CPC Class Codes: B64C 1/068 : Fuselage sections
• CPC Class Codes: B64C 1/069 : Joining arrangements therefor
• CPC Class Codes: B64F 5/10 : Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: B64F 5/50 : Handling or transporting aircraft components
• CPC Class Codes: F16B 19/06 : Solid rivets made in one piece
• CPC Class Codes: G05B 19/41805 : characterised by assembly
• CPC Class Codes: G05B 2219/45071 : Aircraft, airplane, ship cleaning manipulator, paint stripping
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 3/12 : using feedback
• CPC Class Codes: Y02P 90/80 : Management or planning
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/41 : Tool

Abstract

A method and apparatus for fastening two parts together. An initial interference fit may be created between a fastener and at least a portion of a hole extending through the two parts while maintaining a force equilibrium. A final interference fit may be created between the fastener and the hole, while maintaining a new force equilibrium.

Claims

1. A method for fastening two parts together, the method comprising:

creating an initial interference fit between a fastener and at least a portion of a hole extending through the two parts by applying a first force to a head of the fastener and applying a second force to an end of the fastener while maintaining a force equilibrium between the first force, the second force, and a reactive structural force, wherein the second force is less than the first force; and

creating a final interference fit between the fastener and the hole by applying a new first force to the head of the fastener and applying a new second force to the end of the fastener while maintaining a new force equilibrium between the new first force, the new second force, and a new reactive structural force, wherein the new second force is greater than the new first force.

2. The method of claim 1, wherein creating the final interference fit comprises:

forming a tail at the end of the fastener while maintaining the new force equilibrium.

3. The method of claim 2, wherein forming the tail comprises:

forming the tail to complete installation of a rivet in the hole.

4. The method of claim 1, wherein creating the final interference fit comprises:

forming a tail at the end of the fastener opposite to the head of the fastener, while maintaining the new force equilibrium, to create the final interference fit between the fastener and the hole within selected tolerances.

5. The method of claim 1, wherein creating the final interference fit comprises:

forming a tail at the end of the fastener opposite to the head of the fastener such that the final interference fit is substantially uniform across an interface between the two parts.

6. The method of claim 1, wherein creating the initial interference fit comprises:

commanding a first robotic device to apply the first force to the head of the fastener; and

commanding a second robotic device to apply the second force that is less than the first force to the end of the fastener.

7. The method of claim 6, wherein commanding the first robotic device comprises:

sending a first number of commands to the first robotic device that cause the first robotic device to control a first riveting tool associated with the first robotic device to apply the first force to the head of the fastener.

8. The method of claim 7, wherein commanding the second robotic device comprises:

sending a second number of commands to the second robotic device that cause the second robotic device to control a second riveting tool associated with the second robotic device to apply the second force to the end of the fastener.

9. The method of claim 1, wherein creating the initial interference fit comprises:

applying the first force to the head of the fastener using a first robotic device, while also applying the second force to the end of the fastener using a second robotic device, wherein the second force is less than the first force.

10. The method of claim 1, wherein creating the initial interference fit comprises:

applying the first force to the head using a hammer associated with a first robotic device; and

applying the second force to the end of the fastener using a bucking bar associated with a second robotic device.

11. The method of claim 1, wherein creating the final interference fit comprises:

commanding a first robotic device to apply the new first force to the head of the fastener; and

commanding a second robotic device to apply the new second force that is greater than the new first force to the end of the fastener, wherein at least one of the new first force or the new second force is different from the first force or the second force, respectively.

12. The method of claim 1, wherein creating the final interference fit comprises:

forming a tail at the end of the fastener by applying the new first force to the head of the fastener using a first robotic device, while also applying the new second force to the end using a second robotic device, wherein the new first force is less than the new second force.

13. The method of claim 12, wherein forming the tail at the end of the fastener comprises:

applying the new first force to the head using a hammer associated with the first robotic device; and

applying the new second force to the end of the fastener using a bucking bar associated with the second robotic device.

14. The method of claim 1, wherein creating the initial interference fit comprises:

applying the first force to the head of the fastener while also applying the second force to the end of the fastener such that the reactive structural force is generated, wherein the first force is substantially equal to a sum of the second force and the reactive structural force.

15. The method of claim 14 further comprising:

adjusting at least one of the first force or the second force to form the new first force and the new second force.

16. The method of claim 15, wherein creating the final interference fit comprises:

applying the new first force to the head of the fastener while also applying the new second force to the end of the fastener such that the new reactive structural force is generated, wherein the new second force is substantially equal to a sum of the new first force and the new reactive structural force.

17. The method of claim 1 further comprising:

clamping a first part and a second part together prior to the first force being applied to the first end of the fastener; and

unclamping the first part and the second part prior to the second force being applied to the second end of the fastener.

18. The method of claim 1 further comprising:

clamping a first part and a second part together.

19. The method of claim 18, wherein clamping the first part and the second part comprises:

applying a first clamping force to a first surface of the first part using a first clamping device; and

applying a second clamping force substantially equal to the first clamping force to a second surface of the second part using a second clamping device.

20. The method of claim 19 further comprising:

drilling the hole through the first part and the second part with the first part and the second part clamped together.

21. The method of claim 20 further comprising:

inserting the fastener into the hole with the first part and the second part clamped together.

22. The method of claim 21, wherein creating the initial interference fit comprises:

applying the first force to the head of the fastener using a first riveting tool with the first part and the second part clamped together.

23. The method of claim 22 further comprising:

unclamping the first part and the second part after applying the first force to the head of the fastener.

24. The method of claim 22, wherein applying the first force comprises:

positioning the first riveting tool relative to and in contact with the head of the fastener such that the first riveting tool applies the first force to the head of the fastener.

25. The method of claim 22, wherein creating the initial interference fit further comprises:

applying the second force that is less than the first force to the end of the fastener using a second riveting tool with the first part and the second part unclamped.

26. The method of claim 25, wherein creating the initial interference fit further comprises:

hammering the head of the fastener over a time interval using the first riveting tool.

27. The method of claim 26, wherein hammering the head comprises:

hammering the head a plurality of times over the time interval while keeping the first force being applied by the first riveting tool greater than the second force being applied by the second riveting tool.

28. The method of claim 1, wherein creating the initial interference fit comprises:

hammering the head of the fastener a plurality of times over a time interval with the first force using a hammer associated with a first robotic device while the second force is being applied to the end of the fastener using a bucking bar associated with a second robotic device.

29. The method of claim 28, wherein creating the final interference fit comprises:

hammering the end of the fastener a plurality of times over another time interval with the new second force using the bucking bar, while the new first force is being applied to the head using the hammer, to form a tail at the end of the fastener.

30. A method for performing a two-stage riveting process, the method comprising:

creating an initial interference fit between a fastener and at least a portion of a hole extending through two parts using a hammer associated with a first robotic device to apply a first force to a head of the fastener and using a bucking bar associated with a second robotic device to apply a second force to an end of the fastener, while maintaining a force equilibrium between the first force, the second force, and a reactive structural force, wherein the second force is less than the first force; and

creating a final interference fit between the fastener and the hole using the bucking bar to apply a new second force to the end of the fastener and using the hammer to apply a new first force to the head of the fastener, while maintaining a new force equilibrium between the new first force, the new second force, and a new reactive structural force, wherein the new second force is greater than the new first force, such that the final interference fit is substantially uniform across an interface between the two parts.